U.S. patent application number 17/233748 was filed with the patent office on 2021-08-05 for body interface.
The applicant listed for this patent is Ossur Iceland ehf. Invention is credited to Helga Run PALSDOTTIR, Harry Duane ROMO.
Application Number | 20210236374 17/233748 |
Document ID | / |
Family ID | 1000005524830 |
Filed Date | 2021-08-05 |
United States Patent
Application |
20210236374 |
Kind Code |
A1 |
ROMO; Harry Duane ; et
al. |
August 5, 2021 |
BODY INTERFACE
Abstract
A body interface comprises a panel, and a lumbar support and may
be configured to attach to an exoskeleton such as a leg/hip assist
mechanism. The body interface has an adjustable tension provided by
either a tensioning device or by the properties of materials in the
panel and the lumbar support. Tension in the body interface allows
the lumbar support to comfortably and dynamically contact a user's
body while the panel cooperates with the leg/hip assist mechanism.
First and second arms may extend from lateral portions of the panel
to define with first and second belt members a circumference around
the user.
Inventors: |
ROMO; Harry Duane; (Foothill
Ranch, CA) ; PALSDOTTIR; Helga Run; (Reykjavik,
IS) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ossur Iceland ehf |
Reykjavik |
|
IS |
|
|
Family ID: |
1000005524830 |
Appl. No.: |
17/233748 |
Filed: |
April 19, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16146455 |
Sep 28, 2018 |
11000439 |
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17233748 |
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62564798 |
Sep 28, 2017 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61H 2201/1652 20130101;
A61H 2201/1645 20130101; A61F 5/028 20130101; A61H 3/00 20130101;
A61H 2201/1642 20130101; B25J 9/0006 20130101; A61H 2003/007
20130101; A61H 1/0244 20130101; A61H 2201/1626 20130101 |
International
Class: |
A61H 3/00 20060101
A61H003/00; A61H 1/02 20060101 A61H001/02; B25J 9/00 20060101
B25J009/00; A61F 5/02 20060101 A61F005/02 |
Claims
1. A body interface, comprising: a panel being semi-rigid or rigid,
the panel arranged to control sagittal movement and control coronal
movement to control spinal/hip motion of lateral bending and
abduction, respectively, the panel arranged to control
flexion-extension such that the panel is arranged with a superior
or thoracic portion, an inferior or sacral portion, and a central
or lumbar portion located between a superior portion and an
inferior portion of the panel; first and second arms located on
opposed lateral sides of the panel through which first and second
belt segments of an attachment system, respectively, extend to
engage one another and to define a circumference around a user, the
attachment system tensionable by at least one tensioning element;
wherein the body interface further comprises a cover extending over
the panel, the cover is a generally a non-stretch textile tensioned
and secured at superior and inferior ends of the panel to form a
first arc, and the cover is tensioned at first and second lateral
ends to form a second arc, both the first and second arcs being
spaced apart and suspended over the panel.
2. The body interface of claim 1, arranged to connect to an
assistive system movable relative to the panel, and a driving
system adapted to drive the assistive system.
3. The body interface of claim 2, wherein the assistive system
includes a leg/hip assist mechanism and a leg connection, the
leg/hip assist mechanism located on lateral sides of the panel.
4. The body interface of claim 2, wherein the driving system is
located on a posterior side of the panel and includes a driving
mechanism for moving the leg/hip assist mechanism.
5. The body interface of claim 1, further comprising a lumbar
support anchored to the panel at an anchor point, and tensionable
over and spaced a distance apart from the panel;
6. The body interface of claim 5, wherein the lumbar support is
flexible relative to the panel.
7. The body interface of claim 5, wherein the lumbar support is
tensionable relative to the panel by a tensioning device.
8. The body interface of claim 1, further comprising an attachment
system secured to the panel and creating a circumference with the
panel.
9. The body interface of claim 1, wherein the body interface
further comprises first and second arms located on opposed lateral
sides of the panel through which first and second belt segments of
an attachment system, respectively, extend to engage one another
and to define a circumference around the user, the attachment
system tensionable by at least one tensioning element.
10. The body interface of claim 9, wherein the first and second
arms define elastic upper portions cooperating with inelastic inner
and outer layers to permit flexure of the first and second
arms.
11. An exoskeleton comprising: a body interface arranged to
stabilize on a user's muscle and soft-tissue, while remaining
stable in position on a user according to relative movement of an
assistive system attachable to the body interface; a panel being
semi-rigid or rigid, the panel arranged to control sagittal
movement and control coronal movement to control spinal/hip motion
of lateral bending and abduction respectively, the panel arranged
to control flexion-extension such that the panel is arranged with a
superior or thoracic portion, an inferior or sacral portion, and a
central or lumbar portion located between a superior portion and an
inferior portion; wherein the body interface further comprises
first and second arms located on opposed lateral sides of the panel
through which first and second belt segments of an attachment
system, respectively, extend to engage one another and to define a
circumference around the user, the attachment system tensionable by
at least one tensioning element; wherein the first and second arms
define elastic upper portions cooperating with inelastic inner and
outer layers to permit flexure of the first and second arms.
12. The exoskeleton of claim 11, further comprising a lumbar
support attached to the panel at an anchor point.
13. The exoskeleton of claim 12, wherein a tensioning device for
regulating tension in the lumbar support includes a cable extending
through first and second arms to engage the lumbar support.
14. The exoskeleton of claim 12, wherein the lumbar support is
flexible relative to the panel.
15. The exoskeleton of claim 13, wherein the body interface further
comprises a cover extending over the lumbar support, and the lumbar
support located between the cover and the panel.
16. The exoskeleton of claim 12, wherein the panel defines patterns
of apertures configured to cooperate with the lumbar support to
define longitudinal and circumferential arcs and to adjust a
clearance between the lumbar support and the panel based on a
degree of tensioning applied to the body interface.
17. The exoskeleton of claim 12, wherein the first arm defines
inner and outer surface layers comprising inner and outer textiles
and a top layer spanning between the inner and outer surface
layers, such that the top layer is more elastic than the inner and
outer surface layers.
18. The exoskeleton of claim 11, wherein the body interface further
comprises a cover extending over the panel, the cover is a
generally a non-stretch textile tensioned and secured at superior
and inferior ends of the panel to form a first arc, and the cover
is tensioned at first and second lateral ends to form a second arc,
both the first and second arcs being spaced apart and suspended
over the panel.
19. The exoskeleton of claim 11, wherein the first and second arms
each define a channel through which the first and second belt
segments extend, the first and second arms each including a plate
having a generally predetermined straight profile, the first and
second arms are arranged to bend to a curved profile due to
exertion of a load and returning to the straight profile upon
release of the load.
20. The exoskeleton of claim 19, further comprising a padding layer
extending along the plate and between the plate and an outer layer
of the first arm.
Description
FIELD OF THE DISCLOSURE
[0001] A body interface, useable as an anterior-posterior orthosis,
is provided for use as an exoskeleton having adjustability and
means for proper placement over a hip and back of a user and is
adapted to support an actuator or motion/energy storage module.
BACKGROUND
[0002] Exosuits or exoskeletons apply forces to the body in
parallel with a user's muscles so walking or other repetitive
motions results in less fatigue. These exoskeletons can give
healthy individuals greater endurance or can provide small
corrections to an impaired individual's gait.
[0003] An example of an exoskeleton is a multi-articular
exoskeleton extending from the heel to the waist. The exoskeleton
applies forces during transitions between legs, which is when the
body uses the most energy. The calf muscles push the body upward
and forward, while the thigh muscles swing the leg forward. The
multi-articular exoskeleton can help or augment transitions or
motions since it crosses both the ankle and hip joints.
[0004] Exoskeletons can aid a person performing physical labor and
reduce the risk of injury from the lifting, bending, pulling, and
pushing commonly required in many jobs. Assistive bionics
technologies have the potential to improve quality of life,
decrease at-work injury claims, and create a safer, more
comfortable, and productive workplace environment.
[0005] Most exoskeletons comprise at least three components: a
frame, an actuator or motion module (e.g. a motor, spring, etc.),
and a physical body interface (often including straps, bindings,
etc.). The exoskeletons may also include a power source supported
by the frame for driving the actuator or motion module (should it
be powered by an external source).
[0006] Good fit and ease and accuracy of adjustability are often
challenges for the practical use of exoskeletons considering the
length of use contemplated for many exoskeleton applications and
the difficulty of conforming an exoskeleton, which includes rigid
powered elements, to a user's dimensions in a comfortable manner.
It is difficult to provide off-the-shelf or easy to manufacture
exoskeletons that can adapt to the widely differing dimensions of
different users, especially if the exoskeleton is worn successively
by different users during different shifts.
[0007] In the instance of lumbar and hip supports, these supports
for use as an exoskeleton are deficient in offering adjustability
and proper placement over the hip and back of the user, and lack
sufficient support and flexibility for comfortable and accurate
placement over soft tissue while also permitting actuators to
assist motion of the skeletal structure of the user. It may be
difficult to properly place the support on a user because of the
dynamic changes to a user's dimensions throughout use.
[0008] as a user may be susceptible to skin wounds and pressure
sores of soft tissue adjacent the body interface at pressure
points, particularly when used in combination of actuators driving
the skeletal structure, a body interface should prevent any soft
tissue irritation during use of the exoskeleton. Existing devices
poorly address this issue, as the moving parts of the exoskeleton
are often arranged to abut or rub against the user, particularly in
the user's back.
[0009] The body interface also should be customized to an
individual's own contours and anatomical needs, and the body
interface should be adjustable to fit dimensions with different
users. Existing devices fail to provide a comfortable interface
between a body and an exoskeleton that can conform to a user's
dynamically changing dimensions, contours, and other anatomical
needs without sacrificing effective engagement with the
exoskeleton.
[0010] From the foregoing, there is a need for a body interface
suitable for an exoskeleton and configured for attachment to the
user at multiple points to assist in supporting and coupling to the
user's body, particularly in view of a user's dynamically changing
dimensions and anatomical needs. There is further a need for a body
interface that reduces forces on a user's lower back region while
providing improved balance between adjustability and proper
placement of the body interface.
SUMMARY
[0011] According to embodiments of the disclosure, the body
interface is an improvement over known support interfaces in an
exoskeleton, and reduces forces and torques on a user's lower back
region. While described in a body interface, the embodiments
disclosed and the individual components thereof, may likewise be
extended to braces and supports in orthopedics, such as a spinal
orthosis or an upper body orthosis.
[0012] The embodiments of the body interface include a lumbar
support that serves as a suspension system to better accommodate
and conform to the lumbar region of a user. Specifically,
embodiments include lumbar tensioning to conform to a lumbar sacral
shape, such as by increasing or decreasing purchase on demand, and
to suspend a hip actuation device while forming a stable base for
transmission of hip actuator forces (flexion and extension) through
both a frame and a suspended soft good construction.
[0013] From these body interface embodiments, the body interface
according to the disclosure provides increased breathability by
using a lumbar support, such as an anatomically-shaped substrate
formed from a non-stretch textile, that is suspended relative to a
rigid frame or panel of the body interface. The lumbar support
increases comfort by conforming to a user's anatomical shape. The
lumbar support improves comfort and long-term use by reducing
abrasion against a user by spacing the user's lumbar region a
distance or clearance from the rigid frame or panel, by evenly
distributing the forces to avoid pressure points, and by enhancing
breathability and ease of donning and doffing.
[0014] The lumbar support securely sustains its place over
soft-tissue while enabling actuators to drive the user's skeletal
system, accommodating external movement relative or adjacent to the
body interface without adjusting in placement against the user,
enhancing the effectiveness of the exoskeleton. The lumbar support
may be static because it maintains a fixed configuration, or may be
dynamic in that a user can adjust tension of the lumbar support to
adapt its conformability to the user and location relative to the
frame. The body interface achieves an improved balance between
proper support and comfortable fit for a user.
[0015] Embodiments of the body interface are adapted to
anatomically improve donning and doffing of the body interface, and
conformability to a user's waist and torso. A belt tensioning
system enables the user to fasten the body interface to the user
depending on intimacy of fit or lateral stabilization needed. The
belt tensioning system includes three-dimensionally shaped belt
arms that can readily open and close for ease and convenience of
donning and doffing. The three-dimensionally shaped belt arms aid
in single-handed donning, which is useful for quickly and securely
securing the body interface to a user.
[0016] The belt tensioning system preferably has a soft-good
construction including textile, foam, and semi-rigid plastic
backing to yield an "anatomically shaped resting position," that
can be modified when donning the body interface and securely
placing about the user. This allows for a natural and comfortable
positioning of the body interface.
[0017] The body interface has versatility for supporting hip
musculature and comfortably remaining in place as actuators assist
a user with hip flexion and extension. The body interface is
versatile further in supporting an anterior panel that can be added
for additional truncal support for moderate hip/truncal extension
assistance. The body interface can additionally support a posterior
panel extension and shoulder straps to provide enhanced support and
assistance for users with truncal weakness or during sit-to-stand
activities. In this way, the body interface may be constructed and
adapted modularly for easy and convenient adaptation to a user's
specific and dynamic needs.
[0018] The above embodiments solve the problem of existing
exoskeletons and body interfaces having improper balance between
comfort and effectiveness by providing an improved lumbar support
suspension system with a tensioning system and combines
breathability, comfort, and enhanced conformity, improved belt arms
for easier donning and offing, and improved versatility toward
assistance for users with truncal weakness or for different
activities.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] FIG. 1A is a schematic view of an exoskeleton including a
body interface according to embodiments of the disclosure.
[0020] FIG. 1B is a schematic view of the exoskeleton of FIG. 1A
including a posterior panel extension.
[0021] FIG. 2 is a perspective view of an embodiment of the body
interface of FIG. 1A.
[0022] FIG. 3 is a perspective view of a frame in the body
interface of FIG. 1A.
[0023] FIGS. 4A and 4B are force diagrams showing forces in flexion
of the exoskeleton of FIG. 1A on a user wearing the body
interface.
[0024] FIGS. 4C and 4D are force diagrams showing forces in
extension of the exoskeleton of FIG. 1A on a user wearing the body
interface.
[0025] FIG. 5 is a schematic plan view of the body interface of
FIG. 2.
[0026] FIG. 6 is a schematic detail view VI of FIG. 5.
[0027] FIG. 7 is a cross-sectional view taken along line VII-VII in
FIG. 6.
[0028] FIG. 8 is a perspective view of another embodiment of the
body interface having a variation of the lumbar support.
[0029] FIG. 9 is a perspective view of another embodiment of the
body interface having a variation of the lumbar support.
[0030] FIG. 10 is a perspective view of another embodiment of the
body interface having a variation of the lumbar support.
[0031] FIG. 11A is a perspective view of another embodiment of the
body interface having a variation of the lumbar support having a
first tension configuration.
[0032] FIG. 11B is a perspective view of the body interface of FIG.
11A having a second tension configuration.
[0033] FIG. 12A is a schematic posterior view of the body interface
of FIG. 2 having a belt tensioning system.
[0034] FIG. 12B is a schematic top view of the body interface of
FIG. 2 having a belt tensioning system.
[0035] FIG. 12C is a schematic side view of the body interface of
FIG. 2 having a belt tensioning system.
[0036] The drawings and figures are not drawn to scale, but instead
are drawn to provide a better understanding of the components, and
are not intended to be limiting in scope, but to provide exemplary
illustrations. The figures illustrate exemplary configurations of a
body interface, and in no way limit the structures or
configurations of a body interface and components according to the
present disclosure.
DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS
[0037] The embodiments of the disclosure relate to a body
interface.
[0038] The body interface incorporates features in a spinal
orthosis, such as a spinal orthosis disclosed in U.S. patent
application publication 2017/0007435, published on Jan. 12, 2017.
However, unlike in a spinal orthosis which is specifically designed
for pain relief, protecting injured ligaments or muscles, and
post-surgical immobilization, the body interface of the embodiments
of the disclosure are provided for support over soft tissue while
permitting mechanical actuators to assist motion of skeletal
structures. The body interface, like the known spinal orthosis, may
be configured to relieve pressure over the spinous processes while
applying an even pressure to the paraspinal musculature to ensure
comfortable support of the exoskeleton equipment.
[0039] A known spinal orthosis, such as the exemplary spinal
orthosis described in U.S. Pat. No. 8,172,779, granted on May 8,
2012 and incorporated by reference, and the embodiments of the body
interface, have outer and inner side configurations, with the inner
side arranged to be adjacent the user's back. The orthosis and body
support have first and second belt members, and a compression or
closure system adapted to exert pressure onto the lumbar region of
a user's back. The compression or closure system includes
tightening elements or drawstrings that permit the user to adjust
pressure over the back and a cover extending over the compression
system.
[0040] While in the spinal orthosis there is a flexible or
semi-rigid back plate extending over at least part of the
compression system, the body interface preferably has a rigid or
semi-rigid frame that may include a posterior panel arranged to be
adjacent the back of the user and to carry actuators and/or a power
supply. An anterior panel may be attached to the body interface on
an anterior side thereof.
[0041] Referring to FIG. 1A, a body interface 10 includes a frame,
as in a panel 18 that is semi-rigid or rigid, and a lumbar support
22 anchored to the panel 18 at an anchor point. The lumbar support
22 may be tensionable over and spaced a distance apart from the
panel 18. The lumbar support 22 preferably has a segment spaced
apart from the panel 18 to match and increase lumbar support 22 to
a shape and weight of a user over a sacral area, while being
suspended from the panel 18. The body interface 10 is stabilized on
a user's muscle and soft-tissue, while remaining stable in position
on the user according to relative movement of an assistive system
12 attachable to the body interface 10 providing stability without
sacrificing comfort or adaptability.
[0042] The lumbar support 22 may flexible relative to the panel 18;
however, the lumbar support 22 is preferably a non-stretchable
textile or other suitable material. In a variation, the lumbar
support 22 may be stretchable or have stretchable components or
segments. The lumbar support 22 may be static because it is not
adjustable in tension aside from bearing weight from a user, or it
may be dynamically adjustable because the lumbar support 22 is
tensionable relative to the panel by one or more tensioning devices
28, 29.
[0043] The body interface 10 is preferably connected to an
assistive system 12 movable relative to the panel 18, and a power
supply 14 adapted to drive the assistive system 12. In FIGS. 1A and
1B, the assistive system 12 includes a leg/hip assist mechanism 42
and a leg connection 44, preferably on lateral sides of the panel
18. The driving system or power supply 14 includes a driving
mechanism 46 for driving the leg/hip mechanism 42, and is
preferably on a posterior side of the panel 18.
[0044] The panel 18 is arranged to control sagittal movement,
thereby reducing gross and intersegmental flexion and extension of
the hip(s) and trunk. The panel 18 is arranged to control coronal
movement (with the arms) to control spinal/hip motion of lateral
bending and abduction, respectively. The panel 18 may likewise be
arranged to control flexion-extension movement.
[0045] As shown in FIG. 1B, the body interface 10 may include a
panel attachment 38 for attaching to the panel 18 superiorly, the
panel attachment 38 including a strap system 40.
[0046] Referring to FIG. 3, the panel 18 may be arranged with a
superior or thoracic portion 60, an inferior or sacral portion 64,
and a central or lumbar portion 62 between the superior portion 60
and the inferior portion 64. The panel 18 may define first and
second lateral portions 66, 68 extending from the central portion
62. The panel 18 may define a plurality of openings 70.
[0047] As shown in FIGS. 1A-2, the body interface 10 includes an
attachment system 16 secured to the panel and creating a
circumference with the panel 18. The attachment system 16 may share
a pulley system described in U.S. patent application publication
no. 2017/0007435, and U.S. Pat. No. 8,172,779. A cover 20 extends
over the lumbar support 22 between the cover 20 and the panel 18,
or the lumbar support 22 is part of the cover, as disclosed below
in other embodiments.
[0048] FIG. 2 shows the body interface 10 including first and
second arms 24, 26 on opposed lateral sides of the panel 18 through
which first and second belt segments 30, 32 of the attachment
system 16, respectively, extend to engage one another. At least one
tensioning element 34, 36 is movable relative to the panel 18 to
tension the attachment system 16 by reducing the circumference
thereof. The at least one tensioning element 34, 36 secures to one
of the first and second belt segments 30, 32 of the attachment
system 16 and is adapted to move the first and second belt segments
30, 32 relative to the panel 18. The first and second arms 24, 26
are preferably curved so that the first and second arms generally
hug or closely embrace the body of the user. Such a configuration
aids the donning and assures that the body interface remains
securely on the user, particularly in view of the weight and
movement of the activation system.
[0049] The body interface 10 has first and second arms 24, 26 which
extend from opposed lateral sides of the panel 18, the first and
second arms 24, 26 forming open channels 48 through which the first
and second belt segments 30, 32 slidably extend. The first and
second arms 24, 26 pivot relative to the panel 18 according to
tensioning of the attachment system 16 to form a curvature 50. The
first and second arms 24, 26 have upper portions 52 permitting
flexure of the first and second arms 24, 26 to enable formation of
the curvature 50.
[0050] According to an exemplary embodiment, the tensioning device
28 for regulating tension in the lumbar support 22 includes a cable
56 extending through the channel 48 to engage the lumbar support 22
and a dial tensioning device. The tensioning mechanism may be a
dial tensioning device, a ladder strap or other suitable
incremental tensioning mechanism, as taught in U.S. Pat. No.
7,198,610, issued on Apr. 3, 2007.
[0051] The tensioning element 34 includes an elongate element 58
and a handle 54 secured to an end of the elongate element 56. The
handle 54 is securable over a belt segment 30 and the elongate
element 58 is movable relative to the belt segment 30. The first
and second belt segments 30, 32 are securable to one another by
cooperating fasteners 82. The tensioning element 34 may be arranged
similarly as in U.S. patent application no. publication
2017/0007435.
[0052] FIGS. 4A and 4B show hip flexion actuation schema: [0053]
(A) Actuator 42 drives thigh cuff/hip into flexion with force F3.
The force F3 requirements may be smaller relative to other forces
depicted in FIGS. 4A and 4B in that they may be generated to
advance the non-weight bearing leg during swing phase. [0054] (B)
Attachment system 16 is the middle counter force F2. [0055] (C)
Counterforce F1, acting counter to a hip flexion moment generated
by the actuator, is provided at a superior portion of panel 18. M1
represents a moment arm of the counterforce or stabilizing force
F1. The length of the moment arm M1 is relatively long, and
sufficient leverage counters the force/moment generated by the hip
actuator 42.
[0056] FIGS. 4C and 4D show hip extension activation schema: [0057]
(A) Actuator drives thigh cuff/hip into extension with force F7;
[0058] (B) Middle counterforce F5 is provided from waist to distal
posterior panel edge F6, yet this counterforce is relatively small.
The moment arm M2, which is countering the actuator's extension
force/moment is short (shorter than M1), and additional
stabilization superiorly is needed, which is comprised in a panel
extension and shoulder straps. It could also be provided by strap;
and [0059] (C) requires assistance of panel extension and shoulder
loops. Force F8 can help to pull the shoulders and trunk into
extension during a sit-to-stand maneuver.
[0060] In the event of a weak trunk, there is a need to create
extension up the back by making a longer moment arm, particularly
when a user is aiming to stand up. The force required to generate
advancement of the thigh is low since it involves only the weight
of the leg. The moment arm of the leg is diminished by the flexing
of the knee. With hip flexion actuation overall stabilization, the
forces required by the interface are low. For hip flexion force,
the requirement is much lower as simply picking up the leg is
required. The moment arm only goes to the knee joint whereby the
lower leg flexes below the knee. If the user already has sufficient
strength in trunk stability, they may be able to effectively
balance the trunk over the actuators. If on the other hand trunk
weakness exists, the interface may be required to provide adequate
stabilization over the actuators.
[0061] The stabilizing forces required to offset the actuator's
generation of adequate torque to provide sit-to-stand assistance,
however, are high since it must move/stabilize most of a user's
body weight against gravity during a weight bearing activity. This
demonstrates the likely need for the additional stabilization, such
that adding the anterior panel to the belt or even the posterior
panel extension and shoulder straps for sit-to-stand motions or
truncal weakness. The body interface is configured to be
constructed modularly, such that the posterior panel extension and
shoulder straps and/or anterior panel may be added or removed at
any point during treatment or use, based on the user's current
needs.
[0062] As shown in FIG. 5, the body interface 10 comprises a
routing unit 72 secured to the panel 18 and connecting to a routing
carriage 74 by a first segment tensioning element 76, the routing
carriage 74 slidable along a lateral side 66 of the panel 18, a
second tensioning element 34 extending from the routing carriage 74
through the first arm 24. The routing unit 72 is fixedly secured to
the panel 18 at an anchor 80.
[0063] The first arm 24 includes a plate 78 extending from an end
of the lateral portion 66 of the panel 18 and lining the open
channel 48 within the first arm 24. The plate 78 resists yet yields
to movement of the first belt segment 30 as it is drawn toward the
second belt segment 32 to define an inner curvature C1. The first
arm 34 generally has a straight profile (S) if symmetrically
constructed in a configuration P1, however the first arm 34 has a
curved profile C1 in an asymmetrical configuration P2 where the
inner textile 88 is shorter in circumference than the outer textile
86, the connection made through the elastic textile forming the top
layer 52 creates the 3D anatomical shape at rest. Once the body
interface 10 is donned, the shape is not caused by tensioning but
through connection of differing dimensions of internal/external
materials 88, 86, 52, allowing the body interface 10 to conform
simply and automatically to the user's dynamic dimensions.
[0064] The first arm 34 defines inner and outer surface layers
comprising the inner and outer textiles 86, 88 and a top layer 52
spanning between the inner and outer surface layers 86, 88, such
that the top layer 52 is more elastic than the inner and outer
surface layers 86, 88. The inner and outer surface layers 86, 88
are substantially inelastic and the top layer 52 is comparatively
elastic. The inner layer 86 defines an extension of the cover 20
extending about the panel 18.
[0065] The different elasticities of the materials of layers 52,
86, 88 allows the body interface 10 to assume a shape when donned
by the user that conforms to the user's dimensions, thereby
distributing pressures and contact evenly on the user's skin. This
reduces or altogether eliminates pressure points and other
discomforts experienced in existing exoskeleton interfaces.
[0066] A plate 78 lines a channel 48 within arm 24, and may be
flexible and semi-rigid. The plate 78 is preferably formed from
plastic. The plate 78 has a generally predetermined straight
profile and resists but ultimately is bendable to a curved profile
due to exertion of a load L bringing the first arm 24 into the
curved profile C1. The plate 78 generally returns to the straight
profile S upon release of the load L.
[0067] The resting shape of the textile construction is due to
constraining the materials through connections and dimensions. The
load L is created not by an external force or even the
circumferential compression by the tensioned belt arms, but rather
by the pulling toward the center by the constrained shorter
non-stretch textile forming the inner layer 88. This results in a
simple and automatic mechanism to allow the cover 20 and the panel
18 to cooperate for optimal effectiveness and comfort.
[0068] A padding layer 84 extends along the plate 78 and between
the plate 78 and the outer layer 86. A lateral portion end 90 of
the panel 18 preferably overlaps the plate 78. The belt segment 30
is adapted to slide within the channel 48, while the first arm 24
maintains its shape without interfering with the sliding of the
belt segment 30. The features described regarding first arm 24
apply correspondingly to second arm 26 and to belt segment 32.
[0069] Referring to the embodiment of a body interface depicted in
FIG. 8, a tensioning element 92 connects to the lumbar support 94
and is movable in a generally lateral direction LD1, LD2 relative
to the panel 18. The tensioning device 28 is arranged to permit
regulation of the tensioning element 92 to move an end 100, 102 of
the lumbar support 94 relative to the panel 18.
[0070] The lumbar support 94 has first, second lateral portions
108, 110 coupled to first, and second tensioning devices 28, 29
each arranged to draw the first and second lateral portions 108,
110 in opposed directions LD1, LD2 relative to one another via the
tensioning element 92 which extends between the first and second
tensioning devices. The lumbar support 94 is anchored superiorly on
the panel 18 at a superior attachment 96, and is anchored
inferiorly on the panel 18 at an inferior attachment 98. The first
and second lateral portions 108, 110 are defined such that the
first and second lateral portions 108, 110 are movable relative to
the superior and inferior portions 104, 106, according to
regulation by the first and second tensioning devices 28, 29.
[0071] According to an embodiment, the lumbar support 94 is formed
from a continuous sheet of unstretchable material. In another
embodiment, the lumbar support 94 is a multi-sheet construction,
wherein the superior, inferior and first and second lateral
portions 104, 106, 108, and 110 may have different stretchability
relative to one another.
[0072] The superior and inferior fixations or attachments 96, 98
secure the cover 20 and the lumbar support 94 along the panel 18
while ensuring that the lumbar support and the first and second
lateral portions 108, 110 may change configuration to conform to
the user's dynamic dimensions, such as during movement of an
exoskeleton attached to the body interface. For example, the cover
20 and the lumbar support 94 may abut a user's body as the panel
18, spaced in some embodiments a distance apart from the lumbar
support 94 due to the tensioning of lumbar support 94, cooperates
with the exoskeleton. This arrangement reduces or eliminates
pressure points, thereby enhancing comfort, without sacrificing
effective engagement with the exoskeleton.
[0073] Similarly, the arrangement of the lateral portions 108, 110
and the arms 24, 26 in relation to the panel 18 allows for the arms
24, 26 to comfortable engage a circumference of a user while
shifting in configuration relative to the panel 18, due to the
properties of the lumbar support 94 and the materials forming the
lumbar support 94.
[0074] In another embodiment of the lumbar support 112 in FIG. 9,
the lumbar support 112 has a first lateral side 113 coupled to a
tensioning device 28, and a second lateral side 115 anchored to a
second lateral side 68 of the panel 18. The tensioning device 28 is
arranged to pull the first lateral side 113 from the second lateral
side 115. The tensioning device 28 has a tensioning element 118
coupled at a connector 116 attached to the first lateral side 113
of the lumbar support 112.
[0075] The lumbar support 112 preferably defines a band 114
extending between the first and second lateral sides 66, 68 of the
panel 18. The lumbar support 112 is preferably only secured to the
panel 18 at the second lateral side 68. This arrangement
advantageously provides for simple and symmetrical control of the
tensioning over the entire lumbar support 112 via the single
tensioning device 28.
[0076] Band 114 additionally provides stability and control between
the tensioning of first and second lateral sides. In certain
embodiments, the band 114 may be more rigid or inflexible than the
cover 20 or lumbar support 112, thereby supporting and evenly
distributing pressure over a desired region or surface of the
user's lumbar or sacral area. In certain embodiments, the band 114
may be arranged to provide, in addition to tensioning, optimal
support and pressure distribution along key portions of the user's
lumbar or sacral regions. A skilled artisan will understand that
the band 114 may be of different configurations and in different
locations than the depicted embodiment of FIG. 9.
[0077] In yet another embodiment of the lumbar support in FIG. 10,
the lumbar support 120 comprises a first band 122 having superior
and inferior portions 126, 128 secured to superior and inferior
ends 125, 127 of the panel 18. The first band 122 is tensioned
between the superior and inferior ends 125, 127 to be spaced apart
by a clearance from the panel 18 between such superior and inferior
ends 125, 127, the clearance being greatest at a center portion of
the first band 122 between the superior and inferior portions 126,
128.
[0078] The lumbar support 120 comprises a second band 124 having
first and second portions 130, 132 secured to first and second
lateral ends 129, 131 of the panel 18. The second band 124 is
preferably spaced apart a clearance D2 from the panel 18 between
such first and second lateral ends 129, 130. The clearance D2 may
be greatest at a center portion of the second band 124 between the
first and second lateral ends 130, 132. First and second bands 122,
124 may be configured to resemble and coextend with the standard
curvature of a user's sacral or lumbar region, thereby providing
optimal engagement between the user and the lumbar support 120.
[0079] First and second bands 122, 124 provide close engagement
between the lumbar support 120 and a user, thus providing enhanced
comfort even through a user's dynamic motions when using an
exoskeleton engaged with the body interface 10. By providing
distances D1, D2 between the user and the lumbar support 120, a
comfortable and even distribution of pressure is achieved without
compromising the engagement of the body interface, exoskeleton, and
the user. This reduces or altogether eliminates the problem of
pressure points resulting from exoskeleton components abutting or
rubbing against the user's body.
[0080] In FIGS. 11A and 11B, the cover 141 over the panel 18 serves
as the lumbar support 139. The cover 141 is preferably a
non-stretch textile that is tensioned and secured at superior and
inferior ends 142, 144, and likewise tensioned at the first and
second lateral ends 146, 148. The superior and inferior ends 142,
144 are constrained to the panel or frame 18, and form Arc A
therebetween. The lateral ends 146, 148 are permitting to be yet
further tensioned, and form Arc B therebetween. Both Arcs A and B
are spaced apart from the panel 18, and suspended over the panel
18. The cover 141 may be formed of a textile that allows for
defining a perforated texture that provides enhanced breathability
and light-weight construction to provide optimal comfort for a
user. FIGS. 11A and 11B illustrate a lumbar curve reshaping method
to improve purchase on the back for adequate suspension of the
actuators and to conform better for comfort. The arc B between the
lateral ends 146, 148 can be shortened, creating more tension
between the lateral ends 146, 148, and the superior and inferior
ends 142, 144, which creates a new configuration of the lumbar
support 139. The panel 18 is pulled inward at lateral ends 146,
148, which creates a new arc D. The reduced circumferential
dimension along Arc D also reshapes Arc A into the new Arc C.
[0081] A plurality of apertures 150 may be defined by the panel 18,
and arranged in a circular pattern 152 of apertures 150. Including
apertures 150 in a specific pattern 152 advantageously imparts
desired breathability, flexibility, and attachment points on the
panel 18. In the depicted embodiment, providing apertures 150 in
arcs 152 may allow the panel 18 to yield to circumferential bending
to a desired degree as the cover 141 is tensioned to better
encircle and contact a user's waist. A skilled person will
recognize that the features of the depicted embodiment are
illustrative only, and that additional patterns of apertures
allowing for desired movement, bending, or other advantages may be
provided in other embodiments.
[0082] The embodiment depicted in FIGS. 11A and 11B provides a
simple and intuitive mechanism for conforming the panel 18 and the
cover 141 to the dimensions of a user. Using cover 141 as a lumbar
support is advantageous because it provides for enhanced
breathability, simplicity, and reduction of material costs, while
still allowing for a dynamic engagement between the body interface
10, the user, and an exoskeleton.
[0083] The lumbar support/cover 141 may be shaped based on the
properties of the materials forming the cover 141, or may receive
its shape based on tension applied to the panel 18 by the user via
tensioning devices that may be used under other embodiments in the
present disclosure.
[0084] By providing a cover 141 that attaches to panel 18 at key
locations, such as near the extreme edges of the panel 18, the
device can cooperate with and transmit forces generated through
user motions, such as through exoskeleton-assisted motions, while
providing even pressure distribution, comfort, and enhanced dynamic
conformity with the user.
[0085] Referring to FIGS. 12A-12C, a closure device 71 for the
attachment system 16 of FIG. 1A is on first and second lateral
portions 66, 68 of panel 18. The closure device 71 includes first
and second routing units 72, 73 fixedly attached on the first and
second lateral portions 66, 68, respectively. The panel 18 defines
at least one locking slot arrangement 134 in which an engaging part
136 of the first routing unit 72 locks to the panel 18 to prevent
movement of the first routing unit 72 toward an end of the first
lateral portion 66. The panel 18 defines an elongate slot 138 into
which a slider part 140 of the first routing carriage 74 extends so
the first routing carriage 74 is slidable relative to the panel 18
along the first lateral portion 66.
[0086] The closure units may be arranged with pulleys, as described
in U.S. Pat. No. 8,172,779.
[0087] The arrangement of the closure device 71 with the elongate
element 77 on the lateral portions 66, 68 allows for a full cinch
function and leaves the posterior portion of the panel 18 free for
attaching the hip assist mechanism 42 posteriorly. The hatched-out
portions in FIGS. 12A-12C represent areas that can be removed from
the panel to open to a frame as needed. The narrow regions remain
horizontally on the lateral sides to form the track 79, which the
routing units 72, 73 ride in.
[0088] The opposing first closure units are stationary and located
more to midline posteriorly. When the tensioning elements are
drawn, the closure units will draw the belt arms medially back
inside the channels of the arms. The lordosis control can span
across the frame laterally, so it has good purchase to rigid
members on both sides.
[0089] Panel 18 may define zones and patterns of apertures 99.
Apertures 99 may be grouped into lateral zones 103, 105 at lateral
regions and a central zone 107. Zones 103, 105, 107 may be
discretized by a column 115 wherein apertures are not defined,
adding rigidity at desired locations. Within zones 103, 105, 107,
discrete patterns 101 may be provided to facilitate anisotropic
flexibility in desired directions; for instance, the apertures
within lateral zones 103, 105 may be configured to facilitate
circumferential bending of the panel 18 to allow an optimal amount
of cooperation between an exoskeleton and the user. In central zone
107, the apertures may be configured to facilitate a more limited
degree of circumferential bending and more longitudinal
bending.
[0090] It is to be understood that not necessarily all objects or
advantages may be achieved under any embodiment of the disclosure.
Those skilled in the art will recognize that the body interface may
be embodied or carried out in a manner that achieves or optimizes
one advantage or group of advantages as taught without achieving
other objects or advantages as taught or suggested herein.
[0091] The skilled artisan will recognize the interchangeability of
various disclosed features. Besides the variations described
herein, other known equivalents for each feature can be mixed and
matched by one of ordinary skill in this art to construct a body
interface under principles of the present disclosure. It will be
understood by the skilled artisan that the features described
herein may be adapted to orthopedic devices. Hence, this disclosure
and the embodiments and variations thereof are not limited to a
body interface but can be utilized in any orthopedic device.
[0092] Although this disclosure describes certain exemplary
embodiments and examples of a body interface, it therefore will be
understood by those skilled in the art that the present disclosure
extends beyond the specifically disclosed embodiments to other
alternative embodiments and/or uses of the disclosure and obvious
modifications and equivalents thereof. It is intended that the
present disclosure should not be limited by the particular
disclosed embodiments described above, and may be extended to body
interfaces and orthopedic devices, and other applications that may
employ the features described herein.
* * * * *